A supervisory approach for hazardous chemical source localization
A supervisory approach for hazardous chemical source localization
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危险化学品来源本地化监管办法
DOI：
10.1109/icma.2013.6617964
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发表时间：
2013
期刊：
影响因子：
--
通讯作者：
Zhenzhang Liu
中科院分区：
文献类型：
--
作者：
Zhenzhang Liu
使用羽流追踪移动的机器人有可能探测由危险源（如早期火灾、有毒气体和爆炸物）引起的排放，而不会在探测和源定位过程中危及人类生命。由于使用多个机器人的显着优势，引入了一些机器人来定位与人类日常生活有密切关系的环境中的气味源。针对简单城市环境、复杂城市环境和室内办公环境中的气味源定位问题，提出了一种基于规则的机器人协调管理方法.一系列的模拟已经进行，并基于规则的监督方法的有效性进行了验证。
Using plume-tracing mobile robots has the potential to detect emissions caused by dangerous sources such as early stage fire, toxic gas and explosives, without endangering human life during the detection and source localization process. Due to the remarkable advantageous of using multiple robots, a number of robots was introduced to locate an odor source in environments which have close relationship with human everyday life. A rule-based supervisory approach was proposed to coordinate robots for the localization of an odor source in a simple city environment, a complicated city environment and an indoor office environment respectively. A series of simulation have been conducted, and the effectiveness of the developed rule-based supervisory approach was verified.